Swerve Drive Rotation Control

[ehfeinberg]

So our team has undertaken the task of building a swerve drive this off season and we have a question. Say you have 4 modules, 1,2,3, and 4.

1------2
-.........-
-.........-
3------4

If 1 and 3 are driven (wheel rotation) together, and 2 and 4 are driven together should we chain 1 and 2 together for steering (module rotation) and 3+4. Or should the same wheels driven together for drive be chained for steering?

If we chain 1+2 and 3+4 it would make the chain and everything less cluttered. While if we chain 1+3 and 2+4 we would save the two sides for movement of game pieces.

Thanks in advanced.